concept of Planning and Control

Jun 28th, 2015

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Motion Planning and Controlling Algorithm for
Grasping and Manipulating Moving Objects in the
Presence of Obstacles
Ali Chaabani1, Mohamed Sahbi Bellamine2 and Moncef Gasmi3
1National School of Engineering of Tunis, University of Manar, TUNISIA
2,3Computer Laboratory for Industrial Systems, National Institute of Applied Sciences
and Technology, University of Carthage, TUNISIA

International Journal on Soft Computing, Artificial Intelligence and Applications (IJSCAI), Vol.3, No. 3/4, November 2014Motion Planning and Controlling Algorithm forGrasping and Manipulating Moving Objects in thePresence of ObstaclesAli Chaabani1, Mohamed Sahbi Bellamine2 and Moncef Gasmi312,3National School of Engineering of Tunis, University of Manar, TUNISIAComputer Laboratory for Industrial Systems, National Institute of Applied Sciencesand Technology, University of Carthage, TUNISIAABSRACTMany of the robotic grasping researches have been focusing on stationary objects. And for dynamic movingobjects, researchers have been using real time captured images to locate objects dynamically. However,this approach of controlling the grasping process is quite costly, implying a lot of resources and imageprocessing.Therefore, it is indispensable to seek other method of simpler handling In this paper, we aregoing to detail the requirements to manipulate a humanoid robot arm with 7 degree-of-freedom to graspand handle any moving objects in the 3-D environment in presence or not of obstacles and without usingthe cameras. We use the OpenRAVE simulation environment, as well as, a robot arm instrumented with theBarrett hand. We also describe a randomized planning algorithm capable of planning. This algorithm is anextent of RRT-JT that combines exploration, using a Rapidly-exploring Random Tree, with exploitation,using Jacobian-based gradient descent, to instruc